Vr movement platform

ABSTRACT

A movement platform connected to a virtual reality system may have a plurality of movement units. A movement unit may have a sphere with one or more motors and one or more sensors. The one or more motors may rotate the sphere to move a user. The one or more sensors may detect movement or force from the user.

BACKGROUND

Aspects of the present disclosure relate to virtual reality systems,more particular aspects relate to user interaction devices.

A virtual reality system may utilize user interaction devices to recorduser actions and provide feedback to users. The user interaction devicesare designed to provide an immersive experience for users in a virtualreality setting.

SUMMARY

The present invention provides the device of a virtual reality movementplatform. Some embodiments of the present disclosure can be illustratedby a device comprising a sphere, a first motor configured to rotatablydrive the sphere around a first axis of rotation, a second motorconfigured to rotatably drive the sphere around a second axis ofrotation, wherein the first axis is substantially perpendicular to thesecond axis, a first sensor configured to detect rotation of the spherearound the first axis, a second sensor configured to detect rotation ofthe sphere around the second axis, and a third sensor configured todetect a linear force of the sphere in a direction substantiallyperpendicular to the first axis and the second axis.

Some embodiments of the present disclosure can be illustrated by a gridof movement units comprising a first movement unit comprising a firstsphere, a first motor configured to rotationally drive the first spherefrom the plurality of spheres around a first axis of rotation, a secondmovement unit comprising a second sphere, a second motor configured torotationally drive the second sphere from the plurality of spheresaround the second axis of rotation, wherein the first axis issubstantially perpendicular to the second axis, a third movement unitcomprising a third sphere, a first force sensor configured to detectrotational force of the third sphere from the plurality of spheresaround a third axis of rotation, a fourth movement unit comprising afourth sphere, a second force sensor configured to detect rotationalforce of the fourth sphere from the plurality of spheres around a fourthaxis of rotation, wherein the third axis is substantially perpendicularto the fourth axis, a fifth movement unit comprising a fifth sphere, anda third force sensor configured to detect a linear force of the fifthsphere from the plurality of spheres in a direction substantiallyperpendicular to the first axis and the second axis.

Some embodiments of the present disclosure can be illustrated by amovement platform comprising a computer system, a plurality of spheres,a first motor configured to rotationally drive a first sphere from theplurality of spheres around a first axis of rotation, a second motorconfigured to rotationally drive a second sphere from the plurality ofspheres around a second axis of rotation, wherein the first axis issubstantially perpendicular to the second axis and wherein the computersystem is configured to send instructions to the first motor and thesecond motor. The movement platform may also comprise a first forcesensor configured to detect rotational force of a third sphere from theplurality of spheres around a third axis of rotation, a second forcesensor configured to detect rotational force of a fourth sphere from theplurality of spheres around a fourth axis of rotation, wherein the thirdaxis is substantially perpendicular to the fourth axis, and a thirdforce sensor configured to detect a linear force of a fifth sphere in adirection substantially perpendicular to the first axis and the secondaxis, wherein the computer system is configured to receive data from thefirst force sensor, the second force sensor, and the third force sensor.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1A illustrates an exemplary depiction of a movement platform with aplurality of movement units.

FIG. 1B illustrates an exemplary cross sectional depiction of a movementunit with a sphere, motors, and sensors.

FIG. 1C illustrates an exemplary cross sectional depiction of a movementunit with a sphere, and rollers.

FIG. 2 illustrates an exemplary depiction of a movement platform with aplurality of movement units and an outline of a user foot.

FIG. 3 is a block diagram illustrating components of a virtual realitysystem with an attached movement platform, according to some embodimentsof the disclosure.

FIG. 4 is a flow diagram illustrating creation of force models accordingto some embodiments of the disclosure.

FIG. 5 is a block diagram illustrating components a virtual realitysystem with an attached movement platform, according to some embodimentsof the disclosure.

FIG. 6 is a flow diagram illustrating the matching of force models torecorded forces according to some embodiments of the disclosure.

FIG. 7 depicts a computer system in accordance with an exemplaryembodiment of the present invention.

FIG. 8 depicts a cloud computing environment according to variousembodiments of the present invention.

FIG. 9 depicts abstraction model layers according to various embodimentsof the present invention.

DETAILED DESCRIPTION

Aspects of the present disclosure relate to virtual reality systems,more particular aspects relate to movement platforms for userinteractions. While the present disclosure is not necessarily limited tosuch applications, various aspects of the disclosure may be appreciatedthrough a discussion of various examples using this context.

Virtual reality (VR) systems are designed with the intent to create aninteractive and immersive environment for users. There are manyapproaches to capturing user activity and providing feedback to the userin a VR system, but current systems have limitations. For example, in aVR football training program, it may be beneficial for a user to be ableto walk, run or jump freely. However, if the VR system is being used ina small room without a movement device or movement platform, it islikely that the user would hit a wall before scoring a touchdown.Current movement platforms, such as treadmills, provide for some degreeof movement but do not have the feedback and sensor capabilities toprovide a comprehensive force assessment of a user's actions, and maynot fully facilitate freedom of movement actions such as twisting,running, and jumping.

Some embodiments of the present disclosure provide VR systems with amovement platform capable of receiving user force data and moving auser. The movement platform can read forces exerted by the user andactivate motor components of the movement platform to simulate freedomof movement for a user by continuously repositioning the user over thecenter of the movement platform. In some embodiments, the movementplatform includes of a grid of movement units. In some such embodiments,each movement unit can include of a sphere, two motors to rotate thesphere, and three sensors to detect movement or forces of the sphere. Insome embodiments, the spheres are used to sense user movement.

For the purpose of this disclosure, horizontal forces (i.e., forces thatare sufficiently parallel to the top surface of the movement platform)are described as X-forces and Y-forces. For example, “sufficientlyparallel” could be described as within 10° of parallel. In someembodiments, X-forces are sufficiently perpendicular to Y-forces. Forexample, two surfaces that are sufficiently perpendicular could bedescribed as offset 80-100° from each other. Forces sufficientlyperpendicular to the top surface of the movement platform will bedescribed as Z-Forces. In some embodiments, sensors are used to detectX-Forces, Y-Forces, and Z-Forces of a user's movements on the platform.In these embodiments, for example, a walking user would apply X-forces,Y-forces, and Z-forces with first a left foot and then a right foot. Insome embodiments, the spheres are rotated to account for user movement.In these embodiments, for example, as a user takes a step, the movementsystem could roll the spheres that are in contact with the feet suchthat the user stays approximately positioned above the center of themovement platform. In some embodiments, the user platform is used todetermine an expected force pattern for a variety of user movements. Insome embodiments, a database of force models including force patternsand associated user movements is compiled by recording user movements onthe movement platform and measuring the forces that are applied to theuser platform in the same time period. In some embodiments, when forcesare recorded on the user platform, they are compared to a database offorce models and the force model that matches the recorded forces isused to estimate user movement. In some embodiments, the determined usermovement is used to rotate the spheres in a manner that will keep theuser's center of mass centered above the movement platform. In someembodiments, the determined user movement is sent to a computer systemfor 3-D imaging of a user in a virtual reality environment.

FIG. 1A is an exemplary depiction of a movement platform 100 with aplurality of movement units (e,g, 120, 121, and 123). FIG. 1B and FIG.1C are exemplary cross sectional depictions of movement unit (such asmovement unit 120). FIG. 1B is a cross section of movement unit 120 atcross section line B and FIG. 1C is a cross section of movement unit 120at cross section line A. Referring to FIG. 1A, FIG. 1B, and FIG. 1C, insome embodiments, each movement unit can include a sphere 130, a firstmotor 140, a second motor 145, a first sensor 150, a second sensor 155,a third sensor 160, and/or one or more rollers 141, 146, 151, and 156.In some embodiments, each movement unit could include a shell 190, anorientation marker 180, and support arms 142 and 147. Examples of sphere130 include a plastic sphere, a rubber sphere, a metal ball bearing, ametal sphere coated in rubber, etc.

As they are illustrated in FIG. 1A, the plurality of movement units(e,g, 120, 121, and 123) are configured in a grid pattern in movementplatform 100. For example, the grid could be aligned as a squarepattern, a staggered pattern, or a hexagonal pattern. FIG. 1A shows anexemplary square pattern. In some embodiments, the grid includes of aplurality of movement units (e,g, 120, 121, and 123). In someembodiments, shell 190 encloses one or more other components of movementunit 120. In some embodiments, shell 190 abuts, but does not necessarilycontact, sphere 130 to form a top surface of movement unit 120 with theexposed portion of sphere 130 with sphere 130 extending above shell 190.For example, when viewed from above (as illustrated here, oppositesensor 160 with regard to sphere 130), a top surface of shell 190 couldlook like a square plate with a hole cut out of it. From the top ofmovement unit 120 only a portion of sphere 130 would be visible. In someembodiments, shell 190 does not directly come into contact with sphere130; a small gap may be maintained between the inner edge of a hole onthe top of shell 190 and sphere 130. In some embodiments, the topsurface of movement platform 100 may be comprised of a plethora ofadjoined movement units. Movement units 120 are shown as a square shape,but could also be other shapes, such as a hexagonal movement unit.

In some embodiments, orientation marker 180 is used to ensure the properorientation of each movement unit. For example, if all movement unitsare oriented in the same way, then each orientation marker 180 may be inthe bottom left corner of each movement unit 120. In some embodiments,orientation markers 180 are used to ensure that horizontal force andspeed readings of sensors 150 and 155 are reading in the properdirection. This could facilitate easy replacement of broken or defectivemovement units 120 in movement platform 100.

As illustrated, movement unit 120 includes a sphere capable of beingrotated by motors 140 and 145. An exposed portion of sphere 130 may actas a contact surface for a user interacting with movement unit 120. Insome embodiments, a number of rollers, for example rollers 141, 146,151, and 156, may abut sphere 130. Four rollers are shown and discussed,but other numbers of rollers may be used. In some embodiments, rollers141, 146, 151, and 156 are used to keep sphere 130 in place while it isrotating. In some embodiments, one or more support arms, such as supportarm 142 and 147, may be used to keep rollers 141, 146, 151, and 156 inplace. Other support mechanisms and configurations are possible.

In some embodiments, motors are attached to two or more of rollers 141,146, 151, and 156. For example, motor 140 and motor 145 could beattached to rollers 141 and 146 respectively. The motor 140 and motor145 could rotate rollers 141 and 146 which in turn would rotate sphere130.

In some embodiments, sensors are attached to one or more of rollers 141,146, 151, and 156. For example, first sensor 150 and second sensor 155is attached to rollers 151, and 156 respectively. The first sensor 150and second sensor 155 could detect movement or force of rollers 151 and156 which is translated from sphere 130.

In some embodiments, one or more movement units 120 can have one or moremotors, such as first motor 140 and second motor 145, configured torotate sphere 130 (e.g., by rotating rollers 141 and 146). For example,first motor 140 could be capable of rotating sphere 130 around a firstaxis of rotation and second motor 145 could be capable of rotatingsphere 130 around a second axis of rotation, where the second axis ofrotation is perpendicular to the first axis of rotation. For the purposeof this disclosure, a rotational direction around the first axis ofrotation will be referred to as the X-direction, and a rotationaldirection around the second axis of rotation will be referred to as theY-direction. In some embodiments, motors 140 and 145 may work inconjunction to move the spheres in other directions than strictly theX-direction or strictly the Y-direction. For example, both motorsrunning at roughly equivalent power could rotate the sphere in adirection 45° from either the X-direction or the Y-direction.

In some embodiments, each sphere may have both a first and a secondmotor. In some embodiments, the motors may be distributed to themovement units such that not every movement unit has a first motorand/or a second motor. For example, some movement units may be equippedwith a first motor, other units can be equipped with a second motor, andother units may not have a motor.

In some embodiments, one or more movement units 120 can have one or morerotational sensors, such as first sensor 150 and second sensor 155,configured to detect rotational force or rotation of sphere 130.Rotational force is torque, moment, or moment of force. For example,first sensor 150 could be capable of detecting rotational force orrotation of sphere 130 in a first direction and second sensor 155 couldbe capable of detecting rotational force or rotation of sphere 130 for asecond direction, where the second direction is perpendicular to thefirst direction. In some embodiments, the rotational force of the spherecould be converted into a horizontal force exerted by a user, or thehorizontal force exerted by the user could be translated into arotational force of the sphere. In some embodiments, the rotationalforce of the sphere may be used as the horizontal force exerted by theuser. In some embodiments, the reading of the forces exerted by the useror the conversion of those forces will depend on what measurements thesystem needs to determine a user force. For example, if a virtualreality system has a database of user movement related to horizontalforces applied by the user, then rotational forces of the spheres couldbe converted into horizontal forces of the user. In another example, ifa database of user movement is related to rotational forces of spheresin movement platform 100, then rotational force of the spheres could beused. In some embodiments, the rotational force of sphere 130 meansforce imparted to sphere 130 from a user that could be recorded asrotational force. In some embodiments, the sensors may work inconjunction with motors 140 and 145. In some embodiments, the sensorscan detect rotational movement and/or force of a sphere for a timeperiod and a computer system can use this information to determine theforce that would be required to cause the rotational movement and/orforce of the sphere. The computer system can also record the forceexerted on the sphere by motors 140 and 145 in the same time period bymonitoring the energy (e.g., electricity) put into each motor. Forexample, each motor may have a conversion equation determining how muchforce output each motor produces for each unit of energy put into themotor. In some embodiments, the force exerted by motors 140 and 145 canbe compared to the force recorded by the sensors to extrapolate theforce the user is exerting on the sphere or determine that the user isnot exerting any force on the sphere. In some embodiments, the sensorsmay be integrated into the motors directly. In some embodiments, thesensors may be speed sensors that detect the rotational speed of sphere130.

In some embodiments, one or more movement units 120 can have one or morepressure (also referred to as z-directional sensors), such as thirdsensor 160, configured to detect force (i.e., pressure) exerted on thesensor by and/or through sphere 130. For example, a foot could step onsphere 130, where the sphere 130 in turn applies that force to thirdsensor 160. In some embodiments, each movement unit, such as movementunits 120, 121, and 123, may include third sensor 160. In someembodiments, only some movement unit, such as movement units 120, 121,and 123 may include third sensor 160. In some embodiments, sphere 130will rotate against third sensor 160. In some embodiments, a surface ofthird sensor 160 which contacts sphere 130 will include a low frictionmaterial. In some embodiments, the low friction material could be asurface coating or a pad on top of third sensor 160. In someembodiments, a low friction material is a material, such aspolytetrafluoroethylene (PTFE), with a coefficient of friction that isless than 0.5.

In some embodiments, a movement platform is configured to record andtransmit force data recorded by sensors. A computer system receiving thedata can use the data received from the sensors to determine a user'sposition and movement. Referring to FIG. 2, outline 205 on movementplatform 200 shows an approximate placement of a user's foot on platform200. The pressure or force exerted in a Z-direction (perpendicular tothe surface of movement platform 200 or, in other words, into the page)of the user's foot can be recorded by sensors (e.g., third sensor 160).Force information can be used not only to determine the force beingapplied by the foot, but also the approximate size of the object (inthis case, a foot) applying the force. For example, if each movementunit, such as movement units 222 and 224, on platform 200 has a topsurface area of 1 centimeter and 30 movement units inside of outline 205are recording Z-force data, then the surface area, in contact withmovement platform 200, of the object applying the data would beapproximately 30 square centimeters. Other sensors, such as first sensor150 and a second sensor 155, could detect horizontal (i.e., X-directionand Y-direction) movements of an object on movement platform 200. Insome embodiments, it is possible for some units to detect movement orforce in a positive X-direction or Y-direction at the same time as otherunits detect force in a negative X-direction or Y direction. Forexample, if a foot is rotating or twisting, the movement unit 222 nearthe heel could detect a positive movement or force in the X-directionwhile the movement unit 224 at the toes could detect a negative movementor force in the X-direction.

In some embodiments, a VR system with a movement platform that isconfigured to record force data could be used to create force models bycombining movement information (e.g., what movement the user isperforming) and force data for a user. In some embodiments, the forcemodels could be used by a virtual reality system to aid in prediction ofuser movements by comparing force readings from a movement platform toforce models.

FIG. 3 is an exemplary block diagram of an example high levelarchitecture of a system 300 for receiving and processing informationfrom a movement platform. In some embodiments, a data structuring module301 is used to create an intelligence data store 350 for a plurality offorce models. In some embodiments, current data object 310 containsforce data 312 and movement data 314. In some embodiments, movement data314 contains movement information such as a video recording, 3-D imageof a user, a plot of foot placement and movement, etc. Movement datacould be any data that contains information of a user related to thephysical presence and movement of a user during a user movement. Forcedata 312 is force information received from a movement platform, such asmovement platform 100. For example, force data could include Z-forcedata, X-force data, and Y-force data. Receiving module 320 is configuredto receive the data contained in current data object 310. In someembodiments, receiving module 324 is configured to parse the data toseparate force data 312 and movement data 314 for one or more timeperiods.

In some embodiments, comparison engine 330 is configured to recognize,parse, and output structured data relating to movement data 314, such aspositions of a user or positions of objects (e.g., feet) on the movementplatform. In some embodiments, comparison engine 330 interprets movementdata 314 and extrapolates relative positions of parts of a user. Forexample, a coordinate for a body part could be determined using speedand acceleration information for the body part.

In some embodiments, comparison engine 330 is configured to analyze theinformation received by receiving module 320 to identify forces that canbe linked to certain user movements. For example, a particular set ofX-forces, Y-forces, and Z-forces could be linked to a jumping movementby a user. In some embodiments, linked is the association of userexerted forces with user performed movements based on previousobservations the user exerted forces and user performed movementscoinciding during the same period of time. In some embodiments, afteridentifying possible links, comparison engine 330 can store the linkedforce information 352 and movement information 354 to force model 351 inintelligence data store 350. Intelligence data store 350 can contain aplurality of force models (such as force model 351). In someembodiments, comparison engine 330 can compare new force models to olderforce models. In some embodiments, a particular force model is comparedto a plurality of other force models to determine an accuracy of thefirst force model.

In some embodiments, the comparison of force models can be used toimprove accuracy and disregard anomalous force models. For example, if aforce model does not accurately match to other force models that arebased on a similar user movement, the force model may be disregarded asan anomalous result. In some embodiments, comparison engine 330 can linkforce models that are likely to be sequential. For example, if one forcemodel is associated with a left foot step, a right foot step could belikely to follow.

In some embodiments, classification engine 340 can classify variousforce models. For example, the force models could be ranked according tofrequency of occurrence, order of occurrence, accuracy, etc. In someembodiments, classification engine 340 could also determine aprobability that the force models in intelligence data store 350 couldbe used to accurately depict user movement by comparing force data froma user to the force models in intelligence data store 350. For example,classification engine 340 might determine that there is too wide of avariance between the force models related to jumping. In such anexample, the accuracy of jumping depictions may be increased if moremovement data 314 and related force data 312 related to a user jumpingwere available to classification engine 340.

In some embodiments, reporting engine 345 reports the contents ofintelligence data store 350. For example, reporting engine 345 couldprovide one or more force models, such as force model 351, to a computersystem (e.g., a VR system). In some embodiments, reporting engine 345could also report on an estimated probability that the force models inintelligence data store 350 would be sufficient to accurately depictuser movement based on only force data for that user. For example, ifclassification engine 340 determines that more data regarding jumping isneeded, reporting engine 345 could report to a computer system that userjumping data is needed.

FIG. 4 illustrates an example method 400 by which a movement platformcan be used to create force models.

In block 405 a processor monitors a movement platform for force datafrom a user for a first time period. A movement platform, such asmovement platform 100, may record force readings while a user performsspecific actions. In some embodiments, the movement platform comprises agrid of a plurality of movement units, where one of the plurality ofmovement units contains an X-force sensor, one of the plurality ofmovement units contains a Y-force sensor, and one of the plurality ofmovement units contains a Z-force sensor. In some embodiments, the forcedata includes X-force data, Y-force data, and Z-force data. Themonitored or received information can then be used to train a computersystem to recognize force patterns that are associated with specificunit movements.

In block 410 the processor receives movement information of the user forthe first time period. For example, the movement information containsmovement information such as of a video recording of a user performingan action, 3-D image of a user performing an action, a plot of footplacement and movement, etc. For example, while a user is performing anaction, such as a running jump, on a moving platform, a video imagingsystem could be recording the user action while a movement platform isrecording the force exerted by the user. Other methods for recording theuser action are possible. In some embodiments, the movement informationprovides predicted displacement information of a user action. In someembodiments, a predicted displacement is a movement of a user if theuser were unimpeded and not repositioned by a movement platform.

In block 415 force data may be compared to the movement information inorder to create force models. For example, a computer system logicallyconnected to the sensors of a movement platform could associate aspecific pattern of force data to a user action such as running,jumping, walking, standing, crouching, etc. In some embodiments, thecomputer system could also cross link different actions to determine acombination of actions. For example, a combination of the running andjumping force patters could be linked to the action of jumping whilerunning. Likewise, the combination of running and crouching patternscould be linked to the action of sliding.

In some embodiments, each action may be broken down into specificelements of the actions and the starting time, stopping time, andduration of each element may be recorded to compare to contemporaneouslyrecorded force data from the movement platform. In some embodiments, theuser action can be segmented into time periods and each element can beassociated with a specific set of time periods, including a set of onetime period, for easier comparison to the force data. For example, auser action of jumping could be divided into several separate elements.In some embodiments, the user action and associated force data could besegmented into specific time segments. For example, the elements of ajump could be a pre-jump squat taking 250 milliseconds, verticalacceleration taking 250 milliseconds, liftoff from the platform taking250 milliseconds, and touchdown on the platform taking 250 milliseconds.In some embodiments, data structuring module 301 could segment each ofthese elements into 50 millisecond time periods. Following the example,each element of the jump would then have 5 time periods and the jump asa whole would have 20 time periods. In some examples, comparison engine330 could create a force model, such as force model 351, for each timeperiod. In some examples, some force models could include one timeperiod while others include multiple time periods. In some embodiments,classification engine 340 could create sequential links between oneforce model and another. For example, if a force model was created forthe pre-jump squat, that model could be linked to a force model for thevertical acceleration.

In some embodiments, force data recorded by a VR system with a movementplatform may be compared to force models to determine movementinformation.

In some embodiments, referring to FIG. 5, shown is a block diagram of anexample high level architecture of a system 500 for receiving andprocessing information from a movement platform. In some embodiments, adata structuring module 501 is used to find a force model, such as forcemodel 551 in intelligence data store 550, that matches force data 512.In some embodiments, current data object 510 contains force data 512.Force data 512 is force information received from a movement platform,such as movement platform 100. For example, force data could includeZ-force data, X-force data, and/or Y-force data. Receiving module 520 isconfigured to receive the data contained in current data object 510. Insome embodiments, receiving module 520 is configured to parse force data512 for one or more time periods.

In some embodiments, comparison engine 530 is configured to recognizesimilarities between force data 512 and force information 552 containedin a force model such as force model 551. In some embodiments,comparison engine 530 may determine if there is a match. In someembodiments, if there is no match, reporting engine 545 may report thelack of a match to a computer system, such as a VR system.

In some embodiments, comparison engine 530 is configured to analyze theinformation received by receiving module 520 to identify one or moreforce models, such as force model 551, that match force data 512. Insome embodiments, after identifying possible matches, comparison engine530 can compile the possible matches and send them to classificationengine 540.

In some embodiments, data structuring module 501 may receive a string ofdata objects 510 containing force data 512. As each new data object isreceived comparison engine 530 and classification engine 540 can work inconjunction to determine the force model or force models reported byreporting engine 545. For example, initially the force data 512 receivedby receiving module 520 could cause comparison engine 530 to select arunning force model, a walking force model, and a sprinting force modelwith the classification engine 540 identifying running as the mostlikely. After more information is received by receiving module 520, thecomparison engine 530 might be able to eliminate one or more of themodels, such as the walking force model. Likewise, classification engine540 might change its ranking by identifying the sprinting force model asthe most likely.

In some embodiments, reporting engine 545 reports a selected forcemodel, such as force model 551, with movement information 554. Forexample, reporting engine 545 could provide one or more force models,such as force model 551 to a computer system (e.g., a VR system). Insome embodiments, reporting engine 545 could also report on an estimatedprobability that the force model or force models provided fromintelligence data store 550 matches the force data 512 received incurrent data object 510.

FIG. 6 illustrates an example method 600 by which a force model can beselected based on force information received from a movement platform.

In block 610 a processor monitors a movement platform for force datafrom a user. In some embodiments, the movement platform may includesensors to detect force in three directions. In some embodiments, whenno force is detected the process may end.

In block 620 the processor compares the force data to one or more forcemodels in a model database connected to the processor. In someembodiments, the processor may compare the force data to all forcemodels contained in intelligence data store 550. In some embodiments, aselect group of force models may be selected for comparison based onprevious comparisons. In some embodiments, the force models may beorganized in a data tree structure. For example, a second force model(e.g., a second running step) and a third force model (e.g., a runningjump) could be selected as the most likely force models to follow thefirst force model (e.g., a first running step). A fourth force model anda fifth force model could be selected as the most likely force models tofollow the second force model, and a sixth force model and a seventhforce model could be selected as the most likely force models to followthe third force model. In this example the first level of the data treeis the first force model, the second level of the data tree is thesecond force model and the third force model, and the third level of thetree includes the fourth, fifth, sixth and seventh force models.

In block 630 the processor determines that the force data matches afirst force model from the one or more force models. In someembodiments, one or more force models may be a match for the force data.In some embodiments, classification engine 540 may rank the force modelbased on the degree of match between the force data and each forcemodel. If a match is not found the processor will resume block 610.

In block 640 the processor predicts, based on the comparing and thedetermining, a predicted displacement for a user. In some embodiments, agiven force pattern may include movement information 554 which may beused in conjunction with force data 512 to predict a movement ordisplacement of a user. For example, force model 551 could include aone-newton X-force reading for a left foot of a user and a linked oneinch movement for a right foot of a user. If receiving module 520receives force data including a two-newton X-force reading, the computermight calculate that the right foot would move two inches.

In block 650, the processor calculates, based on the predicting,movement instructions for the movement platform. In some embodiments,comparison engine 530 may calculate movement instructions for a movementplatform attached to a VR system. For example, if the processor predictsthat the right foot is moving two inches while not directly on themovement platform, instructions could be calculated to move the leftfoot back two inches.

In some embodiments, in block 660, reporting engine 545 will provide themovement instructions to the VR system. For example, once the movementinstructions are calculated, the movement platform 100 could beinstructed to move the left foot back two inches. Movement platform 100could then engage the motors in the movement units (such as movementunits 120, 121, and 123) under the left foot to rotate the spheres untilthe foot has moved two inches in the desired direction.

In some embodiments, reporting engine 545 could send 3D displacementinstructions to a computing device for virtual imaging in the VR system.In some embodiments, the processor extrapolates, based on the comparing,a virtual 3D displacement for a user. In some embodiments, the processordetermines, based on the extrapolating, 3D displacement instructions(i.e., how to move the user) for the movement of the user. In someembodiments, the processor may send out the 3D displacement instructionsto the VR system.

Computer System

In an exemplary embodiment, the computer system is a computer system 01as shown in FIG. 7. Computer system 01 is only one example of a computersystem and is not intended to suggest any limitation as to the scope ofuse or functionality of embodiments of the present invention.Regardless, computer system 01 is capable of being implemented toperform and/or performing any of the functionality/operations of thepresent invention.

Computer system 01 includes a computer system/server 12, which isoperational with numerous other general purpose or special purposecomputing system environments or configurations. Examples of well-knowncomputing systems, environments, and/or configurations that may besuitable for use with computer system/server 12 include, but are notlimited to, personal computer systems, server computer systems, thinclients, thick clients, hand-held or laptop devices, multiprocessorsystems, microprocessor-based systems, set top boxes, programmableconsumer electronics, network PCs, minicomputer systems, mainframecomputer systems, and distributed cloud computing environments thatinclude any of the above systems or devices.

Computer system/server 12 may be described in the general context ofcomputer system-executable instructions, such as program modules, beingexecuted by a computer system. Generally, program modules may includeroutines, programs, objects, components, logic, and/or data structuresthat perform particular tasks or implement particular abstract datatypes. Computer system/server 12 may be practiced in distributed cloudcomputing environments where tasks are performed by remote processingdevices that are linked through a communications network. In adistributed cloud computing environment, program modules may be locatedin both local and remote computer system storage media including memorystorage devices.

As shown in FIG. 7, computer system/server 12 in computer system 01 isshown in the form of a general-purpose computing device. The componentsof computer system/server 12 may include, but are not limited to, one ormore processors or processing units 16, a system memory 28, and a bus 18that couples various system components including system memory 28 toprocessor 16.

Bus 18 represents one or more of any of several types of bus structures,including a memory bus or memory controller, a peripheral bus, anaccelerated graphics port, and a processor or local bus using any of avariety of bus architectures. By way of example, and not limitation,such architectures include Industry Standard Architecture (ISA) bus,Micro Channel Architecture (MCA) bus, Enhanced ISA (EISA) bus, VideoElectronics Standards Association (VESA) local bus, and PeripheralComponent Interconnects (PCI) bus.

Computer system/server 12 typically includes a variety of computersystem readable media. Such media may be any available media that isaccessible by computer system/server 12, and includes both volatile andnon-volatile media, removable and non-removable media.

System memory 28 can include computer system readable media in the formof volatile memory, such as random access memory (RAM) 30 and/or cachememory 32. Computer system/server 12 may further include otherremovable/non-removable, volatile/non-volatile computer system storagemedia. By way of example only, storage system 34 can be provided forreading from and writing to a non-removable, non-volatile magnetic media(not shown and typically called a “hard drive”). Although not shown, amagnetic disk drive for reading from and writing to a removable,non-volatile magnetic disk (e.g., a “floppy disk”), and an optical diskdrive for reading from or writing to a removable, non-volatile opticaldisk such as a CD-ROM, DVD-ROM or other optical media can be provided.In such instances, each can be connected to bus 18 by one or more datamedia interfaces. As will be further depicted and described below,memory 28 may include at least one program product having a set (e.g.,at least one) of program modules that are configured to carry out thefunctions/operations of embodiments of the invention.

Program/utility 40, having a set (at least one) of program modules 42,may be stored in memory 28 by way of example, and not limitation.Exemplary program modules 42 may include an operating system, one ormore application programs, other program modules, and program data. Eachof the operating system, one or more application programs, other programmodules, and program data or some combination thereof, may include animplementation of a networking environment. Program modules 42 generallycarry out the functions and/or methodologies of embodiments of thepresent invention.

Computer system/server 12 may also communicate with one or more externaldevices 14 such as a keyboard, a pointing device, a display 24, one ormore devices that enable a user to interact with computer system/server12, and/or any devices (e.g., network card, modem, etc.) that enablecomputer system/server 12 to communicate with one or more othercomputing devices. Such communication can occur via Input/Output (I/O)interfaces 22. Still yet, computer system/server 12 can communicate withone or more networks such as a local area network (LAN), a general widearea network (WAN), and/or a public network (e.g., the Internet) vianetwork adapter 20. As depicted, network adapter 20 communicates withthe other components of computer system/server 12 via bus 18. It shouldbe understood that although not shown, other hardware and/or softwarecomponents could be used in conjunction with computer system/server 12.Examples, include, but are not limited to: microcode, device drivers,redundant processing units, external disk drive arrays, RAID systems,tape drives, and data archival storage systems.

Cloud Computing

It is to be understood that although this disclosure includes a detaileddescription on cloud computing, implementation of the teachings recitedherein are not limited to a cloud computing environment. Rather,embodiments of the present invention are capable of being implemented inconjunction with any other type of computing environment now known orlater developed.

Cloud computing is a model of service delivery for enabling convenient,on-demand network access to a shared pool of configurable computingresources (e.g., networks, network bandwidth, servers, processing,memory, storage, applications, virtual machines, and services) that canbe rapidly provisioned and released with minimal management effort orinteraction with a provider of the service. This cloud model may includeat least five characteristics, at least three service models, and atleast four deployment models.

Characteristics are as follows:

On-demand self-service: a cloud consumer can unilaterally provisioncomputing capabilities, such as server time and network storage, asneeded automatically without requiring human interaction with theservice's provider.

Broad network access: capabilities are available over a network andaccessed through standard mechanisms that promote use by heterogeneousthin or thick client platforms (e.g., mobile phones, laptops, and PDAs).

Resource pooling: the provider's computing resources are pooled to servemultiple consumers using a multi-tenant model, with different physicaland virtual resources dynamically assigned and reassigned according todemand. There is a sense of location independence in that the consumergenerally has no control or knowledge over the exact location of theprovided resources but may be able to specify location at a higher levelof abstraction (e.g., country, state, or datacenter).

Rapid elasticity: capabilities can be rapidly and elasticallyprovisioned, in some cases automatically, to quickly scale out andrapidly released to quickly scale in. To the consumer, the capabilitiesavailable for provisioning often appear to be unlimited and can bepurchased in any quantity at any time.

Measured service: cloud systems automatically control and optimizeresource use by leveraging a metering capability at some level ofabstraction appropriate to the type of service (e.g., storage,processing, bandwidth, and active user accounts). Resource usage can bemonitored, controlled, and reported, providing transparency for both theprovider and consumer of the utilized service.

Service Models are as follows:

Software as a Service (SaaS): the capability provided to the consumer isto use the provider's applications running on a cloud infrastructure.The applications are accessible from various client devices through athin client interface such as a web browser (e.g., web-based e-mail).The consumer does not manage or control the underlying cloudinfrastructure including network, servers, operating systems, storage,or even individual application capabilities, with the possible exceptionof limited user-specific application configuration settings.

Platform as a Service (PaaS): the capability provided to the consumer isto deploy onto the cloud infrastructure consumer-created or acquiredapplications created using programming languages and tools supported bythe provider. The consumer does not manage or control the underlyingcloud infrastructure including networks, servers, operating systems, orstorage, but has control over the deployed applications and possiblyapplication hosting environment configurations.

Infrastructure as a Service (IaaS): the capability provided to theconsumer is to provision processing, storage, networks, and otherfundamental computing resources where the consumer is able to deploy andrun arbitrary software, which can include operating systems andapplications. The consumer does not manage or control the underlyingcloud infrastructure but has control over operating systems, storage,deployed applications, and possibly limited control of select networkingcomponents (e.g., host firewalls).

Deployment Models are as follows:

Private cloud: the cloud infrastructure is operated solely for anorganization. It may be managed by the organization or a third party andmay exist on-premises or off-premises.

Community cloud: the cloud infrastructure is shared by severalorganizations and supports a specific community that has shared concerns(e.g., mission, security requirements, policy, and complianceconsiderations). It may be managed by the organizations or a third partyand may exist on-premises or off-premises.

Public cloud: the cloud infrastructure is made available to the generalpublic or a large industry group and is owned by an organization sellingcloud services.

Hybrid cloud: the cloud infrastructure is a composition of two or moreclouds (private, community, or public) that remain unique entities butare bound together by standardized or proprietary technology thatenables data and application portability (e.g., cloud bursting forload-balancing between clouds).

A cloud computing environment is service oriented with a focus onstatelessness, low coupling, modularity, and semantic interoperability.At the heart of cloud computing is an infrastructure that includes anetwork of interconnected nodes.

Referring now to FIG. 8, illustrative cloud computing environment 50 isdepicted. As shown, cloud computing environment 50 includes one or morecloud computing nodes 10 with which local computing devices used bycloud consumers, such as, for example, personal digital assistant (PDA)or cellular telephone 54A, desktop computer 54B, laptop computer 54C,and/or automobile computer system 54N may communicate. Nodes 10 maycommunicate with one another. They may be grouped (not shown) physicallyor virtually, in one or more networks, such as Private, Community,Public, or Hybrid clouds as described hereinabove, or a combinationthereof. This allows cloud computing environment 50 to offerinfrastructure, platforms and/or software as services for which a cloudconsumer does not need to maintain resources on a local computingdevice. It is understood that the types of computing devices 54A-N shownin FIG. 8 are intended to be illustrative only and that computing nodes10 and cloud computing environment 50 can communicate with any type ofcomputerized device over any type of network and/or network addressableconnection (e.g., using a web browser).

Referring now to FIG. 9, a set of functional abstraction layers providedby cloud computing environment 50 (FIG. 8) is shown. It should beunderstood in advance that the components, layers, and functions shownin FIG. 9 are intended to be illustrative only and embodiments of theinvention are not limited thereto. As depicted, the following layers andcorresponding functions are provided:

Hardware and software layer 60 includes hardware and softwarecomponents. Examples of hardware components include: mainframes 61; RISC(Reduced Instruction Set Computer) architecture based servers 62;servers 63; blade servers 64; storage devices 65; and networks andnetworking components 66. In some embodiments, software componentsinclude network application server software 67 and database software 68.

Virtualization layer 70 provides an abstraction layer from which thefollowing examples of virtual entities may be provided: virtual servers71; virtual storage 72; virtual networks 73, including virtual privatenetworks; virtual applications and operating systems 74; and virtualclients 75.

In one example, management layer 80 may provide the functions describedbelow. Resource provisioning 81 provides dynamic procurement ofcomputing resources and other resources that are utilized to performtasks within the cloud computing environment. Metering and Pricing 82provide cost tracking as resources are utilized within the cloudcomputing environment, and billing or invoicing for consumption of theseresources. In one example, these resources may include applicationsoftware licenses. Security provides identity verification for cloudconsumers and tasks, as well as protection for data and other resources.User portal 83 provides access to the cloud computing environment forconsumers and system administrators. Service level management 84provides cloud computing resource allocation and management such thatrequired service levels are met. Service Level Agreement (SLA) planningand fulfillment 85 provide pre-arrangement for, and procurement of,cloud computing resources for which a future requirement is anticipatedin accordance with an SLA.

Workloads layer 90 provides examples of functionality for which thecloud computing environment may be utilized. Examples of workloads andfunctions which may be provided from this layer include: mapping andnavigation 91; software development and lifecycle management 92; virtualclassroom education delivery 93; data analytics processing 94;transaction processing 95; and predictive neural networks 96.

The present invention may be a system, a method, and/or a computerprogram product at any possible technical detail level of integration.The computer program product may include a computer readable storagemedium (or media) having computer readable program instructions thereonfor causing a processor to carry out aspects of the present invention.

The computer readable storage medium can be a tangible device that canretain and store instructions for use by an instruction executiondevice. The computer readable storage medium may be, for example, but isnot limited to, an electronic storage device, a magnetic storage device,an optical storage device, an electromagnetic storage device, asemiconductor storage device, or any suitable combination of theforegoing. A non-exhaustive list of more specific examples of thecomputer readable storage medium includes the following: a portablecomputer diskette, a hard disk, a random access memory (RAM), aread-only memory (ROM), an erasable programmable read-only memory (EPROMor Flash memory), a static random access memory (SRAM), a portablecompact disc read-only memory (CD-ROM), a digital versatile disk (DVD),a memory stick, a floppy disk, a mechanically encoded device such aspunch-cards or raised structures in a groove having instructionsrecorded thereon, and any suitable combination of the foregoing. Acomputer readable storage medium, as used herein, is not to be construedas being transitory signals per se, such as radio waves or other freelypropagating electromagnetic waves, electromagnetic waves propagatingthrough a waveguide or other transmission media (e.g., light pulsespassing through a fiber-optic cable), or electrical signals transmittedthrough a wire.

Computer readable program instructions described herein can bedownloaded to respective computing/processing devices from a computerreadable storage medium or to an external computer or external storagedevice via a network, for example, the Internet, a local area network, awide area network and/or a wireless network. The network may comprisecopper transmission cables, optical transmission fibers, wirelesstransmission, routers, firewalls, switches, gateway computers and/oredge servers. A network adapter card or network interface in eachcomputing/processing device receives computer readable programinstructions from the network and forwards the computer readable programinstructions for storage in a computer readable storage medium withinthe respective computing/processing device.

Computer readable program instructions for carrying out operations ofthe present invention may be assembler instructions,instruction-set-architecture (ISA) instructions, machine instructions,machine dependent instructions, microcode, firmware instructions,state-setting data, configuration data for integrated circuitry, oreither source code or object code written in any combination of one ormore programming languages, including an object oriented programminglanguage such as Smalltalk, C++, or the like, and procedural programminglanguages, such as the “C” programming language or similar programminglanguages. The computer readable program instructions may executeentirely on the user's computer, partly on the user's computer, as astand-alone software package, partly on the user's computer and partlyon a remote computer or entirely on the remote computer or server. Inthe latter scenario, the remote computer may be connected to the user'scomputer through any type of network, including a local area network(LAN) or a wide area network (WAN), or the connection may be made to anexternal computer (for example, through the Internet using an InternetService Provider). In some embodiments, electronic circuitry including,for example, programmable logic circuitry, field-programmable gatearrays (FPGA), or programmable logic arrays (PLA) may execute thecomputer readable program instructions by utilizing state information ofthe computer readable program instructions to personalize the electroniccircuitry, in order to perform aspects of the present invention.

Aspects of the present invention are described herein with reference toflowchart illustrations and/or block diagrams of methods, apparatus(systems), and computer program products according to embodiments of theinvention. It will be understood that each block of the flowchartillustrations and/or block diagrams, and combinations of blocks in theflowchart illustrations and/or block diagrams, can be implemented bycomputer readable program instructions.

These computer readable program instructions may be provided to aprocessor of a general purpose computer, special purpose computer, orother programmable data processing apparatus to produce a machine, suchthat the instructions, which execute via the processor of the computeror other programmable data processing apparatus, create means forimplementing the functions/acts specified in the flowchart and/or blockdiagram block or blocks. These computer readable program instructionsmay also be stored in a computer readable storage medium that can directa computer, a programmable data processing apparatus, and/or otherdevices to function in a particular manner, such that the computerreadable storage medium having instructions stored therein comprises anarticle of manufacture including instructions which implement aspects ofthe function/act specified in the flowchart and/or block diagram blockor blocks.

The computer readable program instructions may also be loaded onto acomputer, other programmable data processing apparatus, or other deviceto cause a series of operational steps to be performed on the computer,other programmable apparatus or other device to produce a computerimplemented process, such that the instructions which execute on thecomputer, other programmable apparatus, or other device implement thefunctions/acts specified in the flowchart and/or block diagram block orblocks.

The flowchart and block diagrams in the Figures illustrate thearchitecture, functionality, and operation of possible implementationsof systems, methods, and computer program products according to variousembodiments of the present invention. In this regard, each block in theflowchart or block diagrams may represent a module, segment, or portionof instructions, which comprises one or more executable instructions forimplementing the specified logical function(s). In some alternativeimplementations, the functions noted in the blocks may occur out of theorder noted in the Figures. For example, two blocks shown in successionmay, in fact, be executed substantially concurrently, or the blocks maysometimes be executed in the reverse order, depending upon thefunctionality involved. It will also be noted that each block of theblock diagrams and/or flowchart illustration, and combinations of blocksin the block diagrams and/or flowchart illustration, can be implementedby special purpose hardware-based systems that perform the specifiedfunctions or acts or carry out combinations of special purpose hardwareand computer instructions.

As used herein, a “set” of an object does not equate to all availableinstances of that object. For example, if four files were available, aset of files may not contain all four files. Further, as used herein,the phrase “each of a set” of an object refers only to the instances ofthat object of that set. For example, if four files were available, thephrase “a set of two files from the four files, each of the files in theset being read only” would properly be interpreted as implying that twofiles (the two files in the set) are read only. The two files of thefour available files that are not in the set may or may not be readonly.

The descriptions of the various embodiments of the present disclosurehave been presented for purposes of illustration but are not intended tobe exhaustive or limited to the embodiments disclosed. Manymodifications and variations will be apparent to those of ordinary skillin the art without departing from the scope and spirit of the describedembodiments. The terminology used herein was chosen to explain theprinciples of the embodiments, the practical application or technicalimprovement over technologies found in the marketplace, or to enableothers of ordinary skill in the art to understand the embodimentsdisclosed herein.

What is claimed:
 1. A device comprising: a sphere; a first motorconfigured to rotatably drive the sphere around a first axis ofrotation; a second motor configured to rotatably drive the sphere arounda second axis of rotation, wherein the first axis is substantiallyperpendicular to the second axis; a first sensor configured to detectrotation of the sphere around the first axis; a second sensor configuredto detect rotation of the sphere around the second axis; and a thirdsensor configured to detect a linear force of the sphere in a directionsubstantially perpendicular to the first axis and the second axis. 2.The device of claim 1 wherein the first sensor and the second sensor areforce sensors configured to detect a rotational force of the sphere. 3.The device of claim 1 wherein the first sensor and the second sensor arespeed sensors configured to detect a rotational speed of the sphere. 4.The device of claim 1 further comprising a shell to contain a portion ofthe sphere, the first motor, the second motor, the first sensor, thesecond sensor, and the third sensor.
 5. The device of claim 1 furthercomprising two or more rollers attached to the motors and abutting thesphere.
 6. The device of claim 5 wherein the first motor and the secondmotor are designed to rotate the rollers.
 7. The device of claim 1wherein the first sensor is part of the first motor.
 8. The device ofclaim 1 wherein a surface of the third sensor is comprised of a lowfriction material.
 9. A grid of movement units comprising: a firstmovement unit comprising a first sphere; a first motor configured torotationally drive the first sphere from the plurality of spheres arounda first axis of rotation; a second movement unit comprising a secondsphere; a second motor configured to rotationally drive the secondsphere from the plurality of spheres around a second axis of rotation,wherein the first axis is substantially perpendicular to the secondaxis; a third movement unit comprising a third sphere; a first forcesensor configured to detect rotational force of the third sphere fromthe plurality of spheres around a third axis of rotation; a fourthmovement unit comprising a fourth sphere; a second force sensorconfigured to detect rotational force of the fourth sphere from theplurality of spheres around a fourth axis of rotation, wherein the thirdaxis is substantially perpendicular to the fourth axis; a fifth movementunit comprising a fifth sphere; and a third force sensor configured todetect a linear force of the fifth sphere from the plurality of spheresin a direction substantially perpendicular to the first axis and thesecond axis.
 10. The grid of movement units of claim 9, wherein at leasttwo of the first sphere, the second sphere, the third sphere, the fourthsphere, and the fifth sphere are the same sphere.
 11. The grid ofmovement units of claim 9, wherein the first sphere, the second sphere,the third sphere, the fourth sphere, and the fifth sphere are differentspheres.
 12. The grid of movement units of claim 9, wherein the firstforce sensor is a speed sensor configured to detect a rotational speedof the third sphere; and wherein the second force sensor is a speedsensor configured to detect a rotational speed of the fourth sphere. 13.The grid of movement units of claim 9 wherein the grid is arranged in asquare configuration.
 14. The grid of movement units of claim 9 whereina surface of the third sensor is comprised of a low friction material.15. A movement platform comprising: a computer system; a plurality ofspheres; a first motor configured to rotationally drive a first spherefrom the plurality of spheres around a first axis of rotation; a secondmotor configured to rotationally drive a second sphere from theplurality of spheres around a second axis of rotation, wherein the firstaxis is substantially perpendicular to the second axis, wherein thecomputer system is configured to send instructions to the first motorand the second motor; a first force sensor configured to detectrotational force of a third sphere from the plurality of spheres arounda third axis of rotation; a second force sensor configured to detectrotational force of a fourth sphere from the plurality of spheres arounda fourth axis of rotation, wherein the third axis is substantiallyperpendicular to the fourth axis; and a third force sensor configured todetect a linear force of a fifth sphere in a direction substantiallyperpendicular to the first axis and the second axis, wherein thecomputer system is configured to receive data from the first forcesensor, the second force sensor, and the third force sensor.
 16. Themovement platform of claim 15, wherein at least two of the first sphere,the second sphere, the third sphere, the fourth sphere, and the fifthsphere are the same sphere.
 17. The movement platform of claim 15,wherein the first sphere, the second sphere, the third sphere, thefourth sphere, and the fifth sphere are different spheres.
 18. Themovement platform of claim 15, wherein the first force sensor is a speedsensor configured to detect a rotational speed of the third sphere; andwherein the second force sensor is a speed sensor configured to detect arotational speed of the fourth sphere.
 19. The movement platform ofclaim 15 wherein the computer system is a virtual reality system. 20.The movement platform of claim 14 wherein a surface of the third sensoris comprised of a low friction material.